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<title>Doxygen: pcl::registration::TransformationEstimationPointToPlane&lt; PointSource, PointTarget, Scalar &gt; 模板类 参考</title>
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<a href="#pub-types">Public 类型</a> &#124;
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<div class="title">pcl::registration::TransformationEstimationPointToPlane&lt; PointSource, PointTarget, Scalar &gt; 模板类 参考</div>  </div>
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<p><code>#include &lt;<a class="el" href="transformation__estimation__point__to__plane_8h_source.html">transformation_estimation_point_to_plane.h</a>&gt;</code></p>
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类 pcl::registration::TransformationEstimationPointToPlane&lt; PointSource, PointTarget, Scalar &gt; 继承关系图:</div>
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  <img src="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane.png" usemap="#pcl::registration::TransformationEstimationPointToPlane_3C_20PointSource_2C_20PointTarget_2C_20Scalar_20_3E_map" alt=""/>
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Public 类型</h2></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane.html">TransformationEstimationPointToPlane</a>&lt; PointSource, PointTarget, Scalar &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane.html">TransformationEstimationPointToPlane</a>&lt; PointSource, PointTarget, Scalar &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudSource</b></td></tr>
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typedef PointCloudSource::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudSourcePtr</b></td></tr>
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typedef PointCloudSource::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudSourceConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudTarget</b></td></tr>
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typedef PointIndices::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesConstPtr</b></td></tr>
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typedef Eigen::Matrix&lt; Scalar, 4, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Vector4</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html">TransformationEstimationLM</a>&lt; PointSource, PointTarget, float &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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typedef Eigen::Matrix&lt; float, Eigen::Dynamic, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>VectorX</b></td></tr>
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typedef <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html">TransformationEstimation</a>&lt; PointSource, PointTarget, float &gt;::Matrix4&#160;</td><td class="memItemRight" valign="bottom"><b>Matrix4</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html">TransformationEstimation</a>&lt; PointSource, PointTarget, float &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:aa7c0ad539f81463c692e500c0ab76dad"><td class="memItemLeft" align="right" valign="top">virtual Scalar&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane.html#aa7c0ad539f81463c692e500c0ab76dad">computeDistance</a> (const PointSource &amp;p_src, const PointTarget &amp;p_tgt) const</td></tr>
<tr class="memdesc:aa7c0ad539f81463c692e500c0ab76dad"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute the distance between a source point and its corresponding target point  <a href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane.html#aa7c0ad539f81463c692e500c0ab76dad">更多...</a><br /></td></tr>
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virtual Scalar&#160;</td><td class="memItemRight" valign="bottom"><b>computeDistance</b> (const Vector4 &amp;p_src, const PointTarget &amp;p_tgt) const</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
额外继承的成员函数</h2></td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a03a62429f0a21c65f30142da4c0b9c20">TransformationEstimationLM</a> ()</td></tr>
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<tr class="separator:a4e6add987a9fbab7f31d392ea812e3f4 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aee755b2a9ec84236fc588221367d6628 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html">TransformationEstimationLM</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#aee755b2a9ec84236fc588221367d6628">operator=</a> (const <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html">TransformationEstimationLM</a> &amp;src)</td></tr>
<tr class="memdesc:aee755b2a9ec84236fc588221367d6628 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy operator.  <a href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#aee755b2a9ec84236fc588221367d6628">更多...</a><br /></td></tr>
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<tr class="memitem:aac5823e6f24d84e42a54df3cc0725471 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="memItemLeft" align="right" valign="top"><a id="aac5823e6f24d84e42a54df3cc0725471"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#aac5823e6f24d84e42a54df3cc0725471">~TransformationEstimationLM</a> ()</td></tr>
<tr class="memdesc:aac5823e6f24d84e42a54df3cc0725471 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
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<tr class="memitem:a291b6c976ad0e887620c3fc6f46d041c inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a291b6c976ad0e887620c3fc6f46d041c">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, Matrix4 &amp;transformation_matrix) const</td></tr>
<tr class="memdesc:a291b6c976ad0e887620c3fc6f46d041c inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud using LM.  <a href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a291b6c976ad0e887620c3fc6f46d041c">更多...</a><br /></td></tr>
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<tr class="memitem:a20f96fb86da98bc933f5c9193db0dd3e inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a20f96fb86da98bc933f5c9193db0dd3e">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const std::vector&lt; int &gt; &amp;indices_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, Matrix4 &amp;transformation_matrix) const</td></tr>
<tr class="memdesc:a20f96fb86da98bc933f5c9193db0dd3e inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud using LM.  <a href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a20f96fb86da98bc933f5c9193db0dd3e">更多...</a><br /></td></tr>
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<tr class="memitem:a7e062028fd76337136196970e9dfe5a2 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a7e062028fd76337136196970e9dfe5a2">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const std::vector&lt; int &gt; &amp;indices_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, const std::vector&lt; int &gt; &amp;indices_tgt, Matrix4 &amp;transformation_matrix) const</td></tr>
<tr class="memdesc:a7e062028fd76337136196970e9dfe5a2 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud using LM.  <a href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a7e062028fd76337136196970e9dfe5a2">更多...</a><br /></td></tr>
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<tr class="memitem:af21a92f170609e7c6732b55a3ed562ce inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#af21a92f170609e7c6732b55a3ed562ce">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, const pcl::Correspondences &amp;correspondences, Matrix4 &amp;transformation_matrix) const</td></tr>
<tr class="memdesc:af21a92f170609e7c6732b55a3ed562ce inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud using LM.  <a href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#af21a92f170609e7c6732b55a3ed562ce">更多...</a><br /></td></tr>
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<tr class="memitem:a58db943b82754771d85e7781d178b1bf inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a58db943b82754771d85e7781d178b1bf">setWarpFunction</a> (const boost::shared_ptr&lt; <a class="el" href="classpcl_1_1registration_1_1_warp_point_rigid.html">WarpPointRigid</a>&lt; PointSource, PointTarget, float &gt; &gt; &amp;warp_fcn)</td></tr>
<tr class="memdesc:a58db943b82754771d85e7781d178b1bf inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the function we use to warp points. Defaults to rigid 6D warp.  <a href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a58db943b82754771d85e7781d178b1bf">更多...</a><br /></td></tr>
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<tr class="inherit_header pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1registration_1_1_transformation_estimation')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html">pcl::registration::TransformationEstimation&lt; PointSource, PointTarget, float &gt;</a></td></tr>
<tr class="memitem:ae6cce6a02e4cb990b1183fd1f8c1cb59 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html#ae6cce6a02e4cb990b1183fd1f8c1cb59">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, Matrix4 &amp;transformation_matrix) const=0</td></tr>
<tr class="memdesc:ae6cce6a02e4cb990b1183fd1f8c1cb59 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud.  <a href="classpcl_1_1registration_1_1_transformation_estimation.html#ae6cce6a02e4cb990b1183fd1f8c1cb59">更多...</a><br /></td></tr>
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<tr class="memitem:ab7e2b0354d603958e13ee879921bdc37 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html#ab7e2b0354d603958e13ee879921bdc37">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const std::vector&lt; int &gt; &amp;indices_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, Matrix4 &amp;transformation_matrix) const=0</td></tr>
<tr class="memdesc:ab7e2b0354d603958e13ee879921bdc37 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud.  <a href="classpcl_1_1registration_1_1_transformation_estimation.html#ab7e2b0354d603958e13ee879921bdc37">更多...</a><br /></td></tr>
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<tr class="memitem:a442a4c07807f51522252122393de6faf inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html#a442a4c07807f51522252122393de6faf">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const std::vector&lt; int &gt; &amp;indices_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, const std::vector&lt; int &gt; &amp;indices_tgt, Matrix4 &amp;transformation_matrix) const=0</td></tr>
<tr class="memdesc:a442a4c07807f51522252122393de6faf inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud.  <a href="classpcl_1_1registration_1_1_transformation_estimation.html#a442a4c07807f51522252122393de6faf">更多...</a><br /></td></tr>
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<tr class="memitem:a29eac92312d3f445ba840a02e92fa5db inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html#a29eac92312d3f445ba840a02e92fa5db">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, const pcl::Correspondences &amp;correspondences, Matrix4 &amp;transformation_matrix) const=0</td></tr>
<tr class="memdesc:a29eac92312d3f445ba840a02e92fa5db inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud.  <a href="classpcl_1_1registration_1_1_transformation_estimation.html#a29eac92312d3f445ba840a02e92fa5db">更多...</a><br /></td></tr>
<tr class="separator:a29eac92312d3f445ba840a02e92fa5db inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1registration_1_1_transformation_estimation_l_m')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html">pcl::registration::TransformationEstimationLM&lt; PointSource, PointTarget, float &gt;</a></td></tr>
<tr class="memitem:abef97e83c0e0e9b1358d558f5a56d1f7 inherit pro_attribs_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="memItemLeft" align="right" valign="top"><a id="abef97e83c0e0e9b1358d558f5a56d1f7"></a>
const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloudSource</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#abef97e83c0e0e9b1358d558f5a56d1f7">tmp_src_</a></td></tr>
<tr class="memdesc:abef97e83c0e0e9b1358d558f5a56d1f7 inherit pro_attribs_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="mdescLeft">&#160;</td><td class="mdescRight">Temporary pointer to the source dataset. <br /></td></tr>
<tr class="separator:abef97e83c0e0e9b1358d558f5a56d1f7 inherit pro_attribs_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af17eaaec23033dc0b94c22275c52164f inherit pro_attribs_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="memItemLeft" align="right" valign="top"><a id="af17eaaec23033dc0b94c22275c52164f"></a>
const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloudTarget</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#af17eaaec23033dc0b94c22275c52164f">tmp_tgt_</a></td></tr>
<tr class="memdesc:af17eaaec23033dc0b94c22275c52164f inherit pro_attribs_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="mdescLeft">&#160;</td><td class="mdescRight">Temporary pointer to the target dataset. <br /></td></tr>
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<tr class="memitem:af75bf268c9136933175e7e7a09ee33ed inherit pro_attribs_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="memItemLeft" align="right" valign="top"><a id="af75bf268c9136933175e7e7a09ee33ed"></a>
const std::vector&lt; int &gt; *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#af75bf268c9136933175e7e7a09ee33ed">tmp_idx_src_</a></td></tr>
<tr class="memdesc:af75bf268c9136933175e7e7a09ee33ed inherit pro_attribs_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="mdescLeft">&#160;</td><td class="mdescRight">Temporary pointer to the source dataset indices. <br /></td></tr>
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<tr class="memitem:ac6ff65ad09bae41216126d00133523a4 inherit pro_attribs_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="memItemLeft" align="right" valign="top"><a id="ac6ff65ad09bae41216126d00133523a4"></a>
const std::vector&lt; int &gt; *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#ac6ff65ad09bae41216126d00133523a4">tmp_idx_tgt_</a></td></tr>
<tr class="memdesc:ac6ff65ad09bae41216126d00133523a4 inherit pro_attribs_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="mdescLeft">&#160;</td><td class="mdescRight">Temporary pointer to the target dataset indices. <br /></td></tr>
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<tr class="memitem:a7ebed1d8e2ca08e832c6980b09afbb90 inherit pro_attribs_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="memItemLeft" align="right" valign="top"><a id="a7ebed1d8e2ca08e832c6980b09afbb90"></a>
boost::shared_ptr&lt; <a class="el" href="classpcl_1_1registration_1_1_warp_point_rigid.html">pcl::registration::WarpPointRigid</a>&lt; PointSource, PointTarget, float &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a7ebed1d8e2ca08e832c6980b09afbb90">warp_point_</a></td></tr>
<tr class="memdesc:a7ebed1d8e2ca08e832c6980b09afbb90 inherit pro_attribs_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="mdescLeft">&#160;</td><td class="mdescRight">The parameterized function used to warp the source to the target. <br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointSource, typename PointTarget, typename Scalar = float&gt;<br />
class pcl::registration::TransformationEstimationPointToPlane&lt; PointSource, PointTarget, Scalar &gt;</h3>

<p><b><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane.html">TransformationEstimationPointToPlane</a></b> uses Levenberg Marquardt optimization to find the transformation that minimizes the point-to-plane distance between the given correspondences.</p>
<dl class="section author"><dt>作者</dt><dd>Michael Dixon </dd></dl>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="aa7c0ad539f81463c692e500c0ab76dad"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aa7c0ad539f81463c692e500c0ab76dad">&#9670;&nbsp;</a></span>computeDistance()</h2>

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<div class="memproto">
<div class="memtemplate">
template&lt;typename PointSource , typename PointTarget , typename Scalar  = float&gt; </div>
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          <td class="memname">virtual Scalar <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane.html">pcl::registration::TransformationEstimationPointToPlane</a>&lt; PointSource, PointTarget, Scalar &gt;::computeDistance </td>
          <td>(</td>
          <td class="paramtype">const PointSource &amp;&#160;</td>
          <td class="paramname"><em>p_src</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const PointTarget &amp;&#160;</td>
          <td class="paramname"><em>p_tgt</em>&#160;</td>
        </tr>
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          <td>)</td>
          <td></td><td> const</td>
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  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></span>  </td>
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<p>Compute the distance between a source point and its corresponding target point </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">p_src</td><td>The source point </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">p_tgt</td><td>The target point </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>The distance between <em>p_src</em> and <em>p_tgt</em> </dd></dl>
<dl class="section note"><dt>注解</dt><dd>Older versions of PCL used this method internally for calculating the optimization gradient. Since PCL 1.7, a switch has been made to the computeDistance method using Vector4 types instead. This method is only kept for API compatibility reasons. </dd></dl>

<p>重载 <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a6e4737852376392b661933a725985209">pcl::registration::TransformationEstimationLM&lt; PointSource, PointTarget, float &gt;</a> .</p>
<div class="fragment"><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        {</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;          <span class="comment">// Compute the point-to-plane distance</span></div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;          Vector4 s (p_src.x, p_src.y, p_src.z, 0);</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;          Vector4 t (p_tgt.x, p_tgt.y, p_tgt.z, 0);</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;          Vector4 n (p_tgt.normal_x, p_tgt.normal_y, p_tgt.normal_z, 0);</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;          <span class="keywordflow">return</span> ((s - t).dot (n));</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        }</div>
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<hr/>该类的文档由以下文件生成:<ul>
<li>registration/include/pcl/registration/<a class="el" href="transformation__estimation__point__to__plane_8h_source.html">transformation_estimation_point_to_plane.h</a></li>
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